CN103935530A - Satellite rotation eliminating device using scroll winding mechanism - Google Patents
Satellite rotation eliminating device using scroll winding mechanism Download PDFInfo
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- CN103935530A CN103935530A CN201410175949.5A CN201410175949A CN103935530A CN 103935530 A CN103935530 A CN 103935530A CN 201410175949 A CN201410175949 A CN 201410175949A CN 103935530 A CN103935530 A CN 103935530A
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- scrollwork
- satellite
- clockwork spring
- rotating shaft
- going barrel
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Abstract
The invention provides a satellite rotation eliminating device using a scroll winding mechanism. The scroll winding mechanism is installed in a scroll winding mechanism box. The central starting point of the scroll winding mechanism is fixedly connected with a rotating shaft, and the tail end point of the scroll winding mechanism is fixedly connected with a shell. One end of the rotating shaft is connected with a fixing piece bearing at the top end of an in-orbit operation mechanical arm and provided with a holding locking device, and the other end of the rotating shaft is in pin joint with a base of a satellite capturing platform and provided with a holding locking device and an annular speed sensor. The satellite rotation eliminating device using the scroll winding mechanism is simple in structure, light in weight and high in reliability; when the satellite rotation eliminating device using the scroll winding mechanism works, rotation of a target satellite is eliminated during capturing the target satellite without energy consumption.
Description
Technical field
The present invention relates to a kind of satellite despin mechanism.
Background technology
Along with the development of the space technologies such as the autonomous rendezvous technology of spacecraft, microelectronic technique, space robot technology, space device is possessed and surmount high maneuverability in-orbit, the high flexibility of concept in the past, functional diversity, complexity, this make spacecraft in-orbit operative technique become gradually various countries pay close attention to a technical field.
Simultaneously, along with the development of mankind's space technology, artificial spacecraft quantity in orbit also constantly increases, the design life of artificial spacecraft has certain limitation, carry fuel mass and be subject to carrying capacity restriction, some parts also exists at any time that damaging lost efficacy maybe needs the possibility of upgrading repacking, for the consideration of cost, to cooperative Spacecraft in orbit keep in repair, fuel adding and repack a problem for space industry must be faced now into.
For the consideration of rigid dynamics, major part spacecraft in orbit has all adopted spin stabilization system or dual spin stabilization system, and spacecraft exists rotational angular velocity around spin axis, and this operation in-orbit to spacecraft brings difficulty.Idea is in the past the spin angle velocity of offsetting spacecraft by electrical consumption electric energy generation opposing torque, has quality large, consumes the shortcoming of electric energy, for the structure design and the quality arrangement that operate in-orbit satellite bring difficulty.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of satellite despin mechanism that utilizes scrollwork clockwork spring, use simple mechanical component, allow the mechanical energy of spacecraft spin be converted into the elastic potential energy of scrollwork clockwork spring catching while grabbing, when release, the elastic potential energy of scrollwork clockwork spring is converted into the mechanical energy of passive space vehicle spin, can realizes the object of replying spin angle velocity when catching the racemization to spin spacecraft while grabbing and discharging cooperative Spacecraft.To the shape of passive space vehicle without particular requirement, as long as meet catch grab direction and passive space vehicle spin vector in the same way and passive space vehicle spin the mechanical energy that comprises scrollwork clockwork spring can tolerance range in, there is the features such as reusable, not loss working medium and energy, flexible operation, quality be light.
The technical solution adopted for the present invention to solve the technical problems is: comprise rotating shaft, hold locking device tightly, cireular frequency sensor, satellite catch and grab platform base, operate machine arm top firmware, scrollwork clockwork spring and scrollwork going barrel in-orbit; Described scrollwork clockwork spring is arranged in scrollwork going barrel, and the central start of scrollwork clockwork spring is fixedly connected with rotating shaft, and the distal point of scrollwork clockwork spring is fixedly connected with scrollwork going barrel; One end of described rotating shaft is connected by bearing with the arm top firmware of operating machine in-orbit, and the rotating shaft other end and satellite are caught and grabbed platform base and be connected by pin key; Described scrollwork going barrel and operate machine in-orbit and install one between the firmware of arm top and hold locking device tightly, scrollwork going barrel and satellite are caught to grab and between platform base, another are installed and hold locking device and cireular frequency sensor tightly, cireular frequency sensor survey satellite is caught and is grabbed platform base spin velocity, in the time that rotating shaft cireular frequency is zero, start two and hold locking device tightly, after operation completes, unclamp and hold locking device tightly.
Several scrollwork going barrels are coaxially installed, and each scrollwork going barrel is fixedly connected with by fixed beam with the arm top firmware of operating machine in-orbit.
Described scrollwork going barrel shell is hollow cylindrical metal structure, and diameter is 80cm, and height is 10cm, and the centre of two end faces of shell has through hole, and rotating shaft is through through hole and connect scrollwork going barrel shell by ball bearing of main shaft.
The diameter of described rotating shaft is 10cm.
The width of described scrollwork clockwork spring is than the little 1cm of scrollwork going barrel outer cover height.
The invention has the beneficial effects as follows: despin mechanism is simple in structure, quality is light, reliability is high, when work, do not require the expenditure of energy just can realize in captured target satellite process and eliminate its spin, for operation in-orbit subsequently facilitates, while discharging target satellite, can, according to mission requirements, recover the spin motion of target satellite.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 operates catching of satellite to grab platform preparation target acquisition satellite schematic diagram in-orbit;
Fig. 3 drives this device to rotate schematic diagram after gripper is caught passive space vehicle;
Fig. 4 is that the present invention absorbs passive space vehicle mechanical energy the schematic diagram that stops operating completely;
Fig. 5 recovers passive space vehicle spin angle velocity schematic diagram before discharging;
In figure, 1. rotating shaft, 2. fastener, 3. satellite is caught and is grabbed platform base, 4. rotating speed sensor, 5. scrollwork clockwork spring, 6. scrollwork going barrel shell, the arm top firmware of 7. operating machine in-orbit, 8. holds locking device (two) tightly, 9. scrollwork clockwork spring and rotating shaft connecting portion, 10. holds locking device () tightly, 11. pivot pins, 12. are fixedly connected with rod member, 13. satellite despin mechanisms, 14. mechanical arms, 15. grippers, 16. passive space vehicles.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described, the present invention includes but be not limited only to following embodiment.
Constituent elements of the present invention comprise rotating shaft, two hold tightly locking device, cireular frequency sensor, satellite catch grab platform base (may be also the docking mechanism of coupling for cooperative Spacecraft), fastener, be fixedly connected with rod member, operate machine in-orbit arm top firmware, several scrollwork clockwork springs and several scrollwork going barrel shells (concrete number is definite according to mission requirements and scrollwork clockwork spring performance);
Scrollwork going barrel shell is cylindrical, metal structures, and diameter is 80cm, and height is 10cm, has two coaxial circular holes in the middle of shell top and bottom, passes through for rotating shaft, and for reducing pivoting friction, ball bearing of main shaft, several scrollwork going barrel arranged parallel are installed by each circular hole place;
Rotating shaft diameter is 10cm, through all scrollwork going barrels and with each scrollwork going barrel between exist bearing to be connected;
Scrollwork clockwork spring lies in going barrel shell, the width of scrollwork clockwork spring is than the little 1cm of going barrel outer cover height, scrollwork clockwork spring central start is fixedly connected with rotating shaft, scrollwork clockwork spring peripheral ends point is fixedly connected with shell, and in the time of rotating shaft forward rotation, scrollwork clockwork spring absorbs mechanical energy, shrink and increase elastic potential energy, when scrollwork clockwork spring releases energy, elastic potential energy is converted into mechanical energy, drive rotating shaft to rotate backward;
Rotating shaft bottom is connected with the arm top firmware bearing of operating machine in-orbit, and rotating shaft upper end is grabbed platform base and is connected by pin key with catching, and the two rotates simultaneously or be static, and rotating shaft top is fixedly connected with connecting element, plays and fixedly catches the effect of grabbing platform base;
Locking device (two) is held in the lower surface of bottom scrollwork going barrel shell and the installation between the firmware of arm top of operating machine in-orbit tightly, the upper surface of top scrollwork going barrel shell and catching is grabbed between platform base and is installed and hold locking device () and cireular frequency sensor tightly, cireular frequency sensor survey satellite is caught and is grabbed platform base spin velocity, and sending instruction to holding braking device, the latter can stop rotating shaft and satellite is caught the rotation of grabbing platform base.When scrollwork clockwork spring starts the spin mechanical energy that comprises of passive space vehicle two when rotating shaft cireular frequency goes to zero while being converted into the elastic potential energy of scrollwork clockwork spring completely and holds locking device tightly, prevent that scrollwork clockwork spring is being converted into mechanical energy by elastic potential energy at once, passive space vehicle is fixed, give the operating time, after operation completes, unclamp and hold locking device tightly, recover passive space vehicle spin;
Each scrollwork clockwork spring shell side is fixedly connected with by fixed beam with the arm top firmware of operating machine in-orbit, ensures that each scrollwork clockwork spring shell can not follow in the course of the work rotating shaft and rotate together.
Workflow of the present invention is as follows:
First, the present invention bottom arm of operating machine in-orbit connects, and top and satellite are caught and grabbed platform and be connected, the capture mechanism with racemization function of complete;
Secondly, operate in-orbit satellite determine with passive space vehicle relative position and attitude after, approaching from forward or the negative sense of passive space vehicle spin angle velocity vector, capture mechanism stretches out, and now, holds locking device tightly and does not work for releasing orientation;
The 3rd step, catches and grabs platform when catching target satellite and forming a fixed connection when satellite, along with passive space vehicle spin; Catch grab platform base start together with rotating shaft rotate, cireular frequency sensor is started working, detect catch the cireular frequency of grabbing platform base, meanwhile, along with the rotation of rotating shaft, scrollwork clockwork spring start shrink, mechanical energy is converted into elastic potential energy;
The 4th step, along with mechanical energy reduces, rotational angular velocity reduces, when passive space vehicle stops grabbing platform base while going to zero from soon catching, cireular frequency sensor sends work order, makes to hold tightly locking device work, prevents rotating shaft reversion, passive space vehicle is fixed, now operated in-orbit satellite and can carry out corresponding operating to passive space vehicle by mechanical arm;
Finally, in the time operating in-orbit satellite complete operation, if desired allow target satellite recover spin, order is held locking device tightly and is unclamped, and scrollwork clockwork spring is under the effect of elastic potential energy and inertia, make rotating shaft drive passive space vehicle to reverse together, elastic potential energy is converted into mechanical energy, recovers passive space vehicle spin, then discharge passive space vehicle, make passive space vehicle recover spin if do not need, directly discharge passive space vehicle.
According to shown in Fig. 1 to Fig. 5, apparatus of the present invention top is fixedly connected with a gripper, and bottom is fixedly connected with mechanical arm, and three's cooperation realizes seizure and the release to spin target satellite.Scrollwork going barrel shell is cylindrical, metal structures, diameter is 80cm, height is 10cm, scrollwork clockwork spring lies in going barrel shell, the width of scrollwork clockwork spring is than the little 1cm of going barrel outer cover height, scrollwork clockwork spring central start is fixedly connected with rotating shaft, and scrollwork clockwork spring peripheral ends point is fixedly connected with shell, and the quantity of scrollwork going barrel and scrollwork clockwork spring is determined according to mission requirements and scrollwork clockwork spring performance; Rotating shaft bottom is connected with the arm top firmware bearing of operating machine in-orbit, and rotating shaft upper end is grabbed platform base and is connected by pin key with catching, and the two rotates simultaneously or be static, and rotating shaft top is fixedly connected with connecting element, plays and fixedly catches the effect of grabbing platform base; Locking device (two) is held in the lower surface of bottom scrollwork going barrel shell and the installation between the firmware of arm top of operating machine in-orbit tightly, the upper surface of top scrollwork going barrel shell and catching is grabbed between platform base and is installed and hold locking device () and cireular frequency sensor tightly; Each scrollwork clockwork spring shell side is fixedly connected with by fixed beam with the arm top firmware of operating machine in-orbit, ensures that each scrollwork clockwork spring shell can not follow in the course of the work rotating shaft and rotate together.
When concrete operations, gripper target acquisition satellite, while driving rotating shaft forward rotation, scrollwork clockwork spring absorbs mechanical energy, shrink and increase elastic potential energy, when scrollwork clockwork spring starts the spin mechanical energy that comprises of passive space vehicle two when rotating shaft cireular frequency goes to zero while being converted into the elastic potential energy of scrollwork clockwork spring completely and holds locking device tightly, preventing that scrollwork clockwork spring is being converted into mechanical energy by elastic potential energy at once, passive space vehicle is fixed, given the operating time; After operation completes, if desired recover target satellite spin, unclamp and hold locking device tightly, scrollwork clockwork spring drives rotating shaft to rotate backward, and elastic potential energy is converted into mechanical energy, recovers passive space vehicle spin.
Claims (5)
1. one kind is utilized the satellite despin mechanism of scrollwork clockwork spring, comprise rotating shaft, hold locking device tightly, cireular frequency sensor, satellite catch and grab platform base, operate machine arm top firmware, scrollwork clockwork spring and scrollwork going barrel in-orbit, it is characterized in that: described scrollwork clockwork spring is arranged in scrollwork going barrel, the central start of scrollwork clockwork spring is fixedly connected with rotating shaft, and the distal point of scrollwork clockwork spring is fixedly connected with scrollwork going barrel; One end of described rotating shaft is connected by bearing with the arm top firmware of operating machine in-orbit, and the rotating shaft other end and satellite are caught and grabbed platform base and be connected by pin key; Described scrollwork going barrel and operate machine in-orbit and install one between the firmware of arm top and hold locking device tightly, scrollwork going barrel and satellite are caught to grab and between platform base, another are installed and hold locking device and cireular frequency sensor tightly, cireular frequency sensor survey satellite is caught and is grabbed platform base spin velocity, in the time that rotating shaft cireular frequency is zero, start two and hold locking device tightly, after operation completes, unclamp and hold locking device tightly.
2. the satellite despin mechanism that utilizes scrollwork clockwork spring according to claim 1, is characterized in that: several scrollwork going barrels are coaxially installed, and each scrollwork going barrel is fixedly connected with by fixed beam with the arm top firmware of operating machine in-orbit.
3. the satellite despin mechanism that utilizes scrollwork clockwork spring according to claim 1, it is characterized in that: described scrollwork going barrel shell is hollow cylindrical metal structure, diameter is 80cm, height is 10cm, the centre of two end faces of shell has through hole, and rotating shaft is through through hole and connect scrollwork going barrel shell by ball bearing of main shaft.
4. the satellite despin mechanism that utilizes scrollwork clockwork spring according to claim 1, is characterized in that: the diameter of described rotating shaft is 10cm.
5. the satellite despin mechanism that utilizes scrollwork clockwork spring according to claim 1, is characterized in that: the width of described scrollwork clockwork spring is than the little 1cm of scrollwork going barrel outer cover height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410175949.5A CN103935530B (en) | 2014-04-29 | 2014-04-29 | A kind of satellite despin mechanism that utilizes scrollwork clockwork spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410175949.5A CN103935530B (en) | 2014-04-29 | 2014-04-29 | A kind of satellite despin mechanism that utilizes scrollwork clockwork spring |
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| Publication Number | Publication Date |
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| CN103935530A true CN103935530A (en) | 2014-07-23 |
| CN103935530B CN103935530B (en) | 2016-05-11 |
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| CN201410175949.5A Expired - Fee Related CN103935530B (en) | 2014-04-29 | 2014-04-29 | A kind of satellite despin mechanism that utilizes scrollwork clockwork spring |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106143952A (en) * | 2016-07-05 | 2016-11-23 | 中国空间技术研究院 | A kind of buffering racemization damping unit for satellites coupling |
| CN106467178A (en) * | 2016-09-19 | 2017-03-01 | 哈尔滨工业大学 | The quick racemization of antenna adhesive large scale space non-cooperative target processes bag |
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN109018447A (en) * | 2018-07-02 | 2018-12-18 | 上海卫星工程研究所 | One kind rotation separator from |
| CN109131954A (en) * | 2018-08-02 | 2019-01-04 | 西北工业大学 | Change the space junk racemization device and method of rotary inertia distribution using absorption type mass block |
| CN109178359A (en) * | 2018-10-17 | 2019-01-11 | 北京控制工程研究所 | A kind of passive racemization mechanism of contact adjustable rigidity |
| CN109625339A (en) * | 2018-12-29 | 2019-04-16 | 西北工业大学 | A kind of micro-nano satellite separator of controllable rotating angular speed |
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| CN106143952A (en) * | 2016-07-05 | 2016-11-23 | 中国空间技术研究院 | A kind of buffering racemization damping unit for satellites coupling |
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| CN106467178A (en) * | 2016-09-19 | 2017-03-01 | 哈尔滨工业大学 | The quick racemization of antenna adhesive large scale space non-cooperative target processes bag |
| CN106467178B (en) * | 2016-09-19 | 2018-11-02 | 哈尔滨工业大学 | The quick racemization processing packet of antenna adhesive large scale space non-cooperative target |
| CN108248897A (en) * | 2017-12-01 | 2018-07-06 | 西北工业大学 | A kind of electromagnetism racemization energy storage device and method towards Tum bling Target |
| CN109018447A (en) * | 2018-07-02 | 2018-12-18 | 上海卫星工程研究所 | One kind rotation separator from |
| CN109131954A (en) * | 2018-08-02 | 2019-01-04 | 西北工业大学 | Change the space junk racemization device and method of rotary inertia distribution using absorption type mass block |
| CN109131954B (en) * | 2018-08-02 | 2020-08-04 | 西北工业大学 | Space debris racemization device and method for changing distribution of rotational inertia by using adsorption type mass block |
| CN109178359A (en) * | 2018-10-17 | 2019-01-11 | 北京控制工程研究所 | A kind of passive racemization mechanism of contact adjustable rigidity |
| CN109178359B (en) * | 2018-10-17 | 2020-04-10 | 北京控制工程研究所 | Contact type rigidity-adjustable passive despinning mechanism |
| CN109625339A (en) * | 2018-12-29 | 2019-04-16 | 西北工业大学 | A kind of micro-nano satellite separator of controllable rotating angular speed |
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| CN103935530B (en) | 2016-05-11 |
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